Merge pull request JMPZ11#30 from jc01rho-openpilot-BoltEV2019-KoKr/0…

…88-release 088 release
darknight111 · Sep 13, 2021 · 7a81a39 · 7a81a39
2 parents 4b4308d + 959f873
commit 7a81a39
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
@@ -1,13 +1,13 @@
 import math
 
-from selfdrive.controls.lib.pid import PIController
+from selfdrive.controls.lib.pid import LatPIDController
 from selfdrive.controls.lib.drive_helpers import get_steer_max
 from cereal import log
 
 
 class LatControlPID():
   def __init__(self, CP):
-    self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
+    self.pid = LatPIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                             k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
                             sat_limit=CP.steerLimitTimer)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
@@ -1,6 +1,6 @@
 from cereal import log
 from common.numpy_fast import clip, interp
-from selfdrive.controls.lib.pid import PIController
+from selfdrive.controls.lib.pid import LatPIDController
 from selfdrive.controls.lib.drive_helpers import CONTROL_N
 from selfdrive.modeld.constants import T_IDXS
 
@@ -56,7 +56,7 @@ def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
 class LongControl():
   def __init__(self, CP, compute_gb):
     self.long_control_state = LongCtrlState.off  # initialized to off
-    self.pid = LongPIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
+    self.pid = LatPIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             rate=RATE,
                             sat_limit=0.8,

diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
@@ -132,7 +132,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 //  drawMetric(p, panda_status.first,  panda_status.second, 518);
 //  drawMetric(p, connect_status.first, connect_status.second, 676);
   QString batt_perc_qstring = QString("BATT: %1 %2").arg(batt_perc).arg("%");
-  drawMetric(p, batt_perc_qstring +"\n"+ QString("%1°C").arg((double)temp_val,4,'f',1), temp_status.second, 338);
-  drawMetric(p, panda_status.first,  panda_status.second, 518);
-  drawMetric(p, "네트워크\n" + connect_status.first, connect_status.second, 676);
+  drawMetric(p, batt_perc_qstring,QString("%1°C").arg((double)temp_val,4,'f',1), temp_status.second, 338);
+  drawMetric(p, panda_status.first,"",  panda_status.second, 518);
+  drawMetric(p, "네트워크\n" + connect_status.first,"", connect_status.second, 676);
 }